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ros_motion_planning repository

common apf_controller controller dwa_controller lqr_controller mpc_controller orca_controller pid_controller rpp_controller static_controller path_planner system_config dynamic_rviz_config dynamic_xml_config gazebo_sfm_plugin gazebo_ped_visualizer_plugin pedsim_msgs voronoi_layer spencer_control_msgs spencer_human_attribute_msgs spencer_social_relation_msgs spencer_tracking_msgs spencer_vision_msgs spencer_tracking_rviz_plugin sim_env

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/ai-winter/ros_motion_planning.git
VCS Type	git
VCS Version	master
Last Updated	2026-02-19
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
common	0.0.0
apf_controller	0.0.0
controller	0.0.0
dwa_controller	1.17.1
lqr_controller	0.0.0
mpc_controller	0.0.0
orca_controller	0.0.0
pid_controller	1.0.0
rpp_controller	0.0.0
static_controller	0.0.0
path_planner	0.0.0
system_config	0.0.0
dynamic_rviz_config	0.0.1
dynamic_xml_config	0.2.0
gazebo_sfm_plugin	1.0.0
gazebo_ped_visualizer_plugin	0.1.0
pedsim_msgs	0.0.2
voronoi_layer	0.0.0
spencer_control_msgs	1.0.8
spencer_human_attribute_msgs	1.0.8
spencer_social_relation_msgs	1.0.8
spencer_tracking_msgs	1.0.8
spencer_vision_msgs	1.0.8
spencer_tracking_rviz_plugin	1.0.8
sim_env	0.0.1

README

ROS Motion Planning

Robot Motion planning is a computational problem that involves finding a sequence of valid configurations to move the robot from the source to the destination. Generally, it includes Path Searching and Trajectory Optimization.

Path Searching: Based on path constraints (e.g., avoiding obstacles), to find the optimal sequence for the robot to travel from the source to the destination without collision.
Trajectory Optimization: Based on kinematics, dynamics and obstacles, to optimize the trajectory of the motion state from the source to the destination according to the path.

This repository provides the implementation of common Motion Planning algorithms. The theory analysis can be found at motion-planning. Furthermore, we provide Python and MATLAB version.

Your stars, forks and PRs are welcome!

0. Quick Start within 3 Minutes

Tested on ubuntu 20.04 LTS with ROS Noetic.

Install ROS (Desktop-Full Install Recommended).
Install git.

    sudo apt install git

Install dependence
- conan

        pip install conan==1.59.0
        conan remote add conancenter https://center.conan.io
        

- Other dependence.

        sudo apt install python-is-python3 \
        ros-noetic-amcl \
        ros-noetic-base-local-planner \
        ros-noetic-map-server \
        ros-noetic-move-base \
        ros-noetic-navfn \
        libgoogle-glog-dev
        

Clone the reposity.

    git clone https://github.com/ai-winter/ros_motion_planning.git

Compile the code.

NOTE: Please refer to #48 if you meet libignition dependency error.

    cd scripts/
    ./build.sh  # you may need to install catkin-tools using: sudo apt install python-catkin-tools
    

Execute the code.

NOTE: You should open a new terminal or source ~/.bashrc after the first time you run build.sh.

    cd scripts/
    ./main.sh
    

> NOTE: Modifying launch files may not have any effect, because they are regenerated by a Python script based on `src/user_config/user_config.yaml` when you run `main.sh`. Therefore, you should modify configurations in `user_config.yaml` instead of launch files.

Use 2D Nav Goal in RViz to select the goal.
Moving!
You can use the other script to shutdown them rapidly.

File truncated at 100 lines see the full file

CONTRIBUTING

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